CN212662597U - Upper limb rehabilitation training device and training system based on VR - Google Patents
Upper limb rehabilitation training device and training system based on VR Download PDFInfo
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- CN212662597U CN212662597U CN202021222148.7U CN202021222148U CN212662597U CN 212662597 U CN212662597 U CN 212662597U CN 202021222148 U CN202021222148 U CN 202021222148U CN 212662597 U CN212662597 U CN 212662597U
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Abstract
The utility model provides an upper limb rehabilitation training device and a training system based on VR, relating to the technical field of training appliances, comprising a holding rod component, an elastic connecting part and a fixed base for holding by training personnel; because the pole subassembly of gripping passes through elastic connection portion and is connected with unable adjustment base, and elastic connection portion can make the pole subassembly of gripping deflect and resume the normal position to arbitrary direction for unable adjustment base, patient's upper limbs can be to arbitrary direction push-and-pull after holding the pole subassembly, holding the pole and driving patient's upper limbs reciprocating motion in the in-process that resets after deflecting for unable adjustment base, the moving range of patient's upper limbs is more extensive, more does benefit to the training of resuming of each joint department of upper limbs. In addition, through upper limbs rehabilitation training device and VR display module combination, the standard action picture that the upper limbs that guide training personnel moved can be shown to VR display module for patient's training process is more targeted and interesting.
Description
Technical Field
The utility model belongs to the technical field of the training apparatus technique and specifically relates to a training system based on VR is related to upper limbs rehabilitation training device.
Background
In the recovery stage after the upper limbs of the patient suffer from hemiplegia or other accidental injuries, the auxiliary recovery is usually carried out by means of a training instrument; the training apparatus generally comprises a movable component, the upper limb of the patient pushes the movable component to move, and the movable component drives the upper limb to reset, so that the aim of training and rehabilitation is achieved in the reciprocating movement process of the upper limb.
The rehabilitation training device that commonly uses is mostly about plug-type or plug-type around or, correspondingly, and patient's upper limbs also can only be from top to bottom or back-and-forth movement, also the patient upper limbs can only move towards fixed direction, and the movable range of upper limbs is comparatively limited, is unfavorable for the recovery of upper limbs each place joint.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an upper limbs rehabilitation training device and training system based on VR to alleviate the technical problem that current rehabilitation training device has the limitation to patient's upper limbs movement range.
In order to solve the technical problem, the utility model provides a technical scheme lies in:
the utility model provides an upper limb rehabilitation training device, which comprises a holding rod component, an elastic connecting part and a fixed base, wherein the holding rod component is held by a trainer;
the holding rod assembly is connected with the fixed base through the elastic connecting portion, and the elastic connecting portion is configured to enable the holding rod assembly to deflect towards any direction relative to the fixed base and to recover to the original position.
Further, the elastic connecting part comprises an elastic body, a first connecting body and a second connecting body;
one end of the elastic body is detachably connected with the holding rod assembly through the first connecting body, and the other end of the elastic body is detachably connected with the fixed base through the second connecting body.
Further, the elastic body comprises a coil spring;
one end of the spiral spring is fixedly connected with the first connecting body, and the other end of the spiral spring is fixedly connected with the second connecting body.
Furthermore, the holding rod assembly comprises a holding rod body and an adjusting rod;
the first connecting body is a first connecting sleeve, and the first connecting sleeve is in threaded connection with one end of the adjusting rod;
the holding rod body is connected with one end, far away from the first connecting sleeve, of the adjusting rod in a sliding mode, so that the holding height of the holding rod body can be adjusted.
Furthermore, the holding rod body is sleeved outside one end of the adjusting rod, which is far away from the first connecting sleeve;
a plurality of adjusting holes are formed in the length direction of the adjusting rod at intervals, a fixing hole is formed in the holding rod body, and one end of the connecting piece penetrates through the fixing hole and the adjusting hole so that the holding height of the holding rod body is fixed.
Further, the fixed base comprises a base body and a fixed sleeve;
one end of the fixing sleeve is fixedly connected with the base body, the second connecting body is a second connecting sleeve, and the second connecting sleeve is in threaded connection with one end, far away from the base body, of the fixing sleeve.
Further, the training device also comprises a supporting table for supporting the elbow of the training person;
the supporting table is arranged on one side of the holding rod assembly and is fixedly connected with the holding rod assembly.
The utility model provides a training system based on VR, which comprises a VR display component and an upper limb rehabilitation training device;
and the VR display component is used for displaying a standard action picture for guiding the upper limbs of the training personnel to move.
Furthermore, the training system also comprises an angle measuring part, a control part and a prompting part;
the angle measuring part is arranged in the holding rod assembly and is used for measuring the deflection angle of the holding rod assembly;
the VR display assembly, the prompting part and the angle measuring part are all electrically connected with the control part, an angle threshold corresponding to the standard action is preset in the control part, and the control part controls the prompting part to send out prompting information when the deflection angle reaches the angle threshold.
Further, the VR display assembly includes VR glasses;
the control unit is built in the VR glasses.
Technical scheme more than combining, the utility model discloses the beneficial effect who reaches lies in:
the utility model provides an upper limb training rehabilitation device, which comprises a holding rod component, an elastic connecting part and a fixed base, wherein the holding rod component is held by a trainer; the holding rod assembly is connected with the fixed base through the elastic connecting portion, and the elastic connecting portion is configured to enable the holding rod assembly to deflect towards any direction relative to the fixed base and restore to the original position.
Because the pole subassembly of gripping passes through elastic connection portion and is connected with unable adjustment base, and elastic connection portion can make the pole subassembly of gripping deflect and resume the normal position to arbitrary direction for unable adjustment base, patient's upper limbs can be to arbitrary direction push-and-pull after holding the pole subassembly, holding the pole and driving patient's upper limbs reciprocating motion in the in-process that resets after deflecting for unable adjustment base, the moving range of patient's upper limbs is more extensive, more does benefit to the training of resuming of each joint department of upper limbs.
In addition, through upper limbs rehabilitation training device and VR display module combination, the standard action picture that the upper limbs that guide training personnel moved can be shown to VR display module for patient's training process is more targeted and interesting.
Drawings
For a clear explanation of the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of an upper limb rehabilitation training device provided by an embodiment of the present invention;
fig. 2 is a schematic structural view of an elastic connection portion in an upper limb rehabilitation training device provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a VR-based training system according to an embodiment of the present invention.
Icon: 100-a grip bar assembly; 110-a grip lever body; 111-anti-slip grip; 120-adjusting rod; 130-a connector; 200-an elastic connection; 210-an elastomer; 220-a first connector; 230-a second connector; 300-a fixed base; 310-a base body; 320-a fixed sleeve; 330-anchor screws; 400-supporting table; 410-connecting the cross beam; 420-connecting the corner beam; 500-VR display assembly; 600-angle measurement.
Detailed Description
The technical solution of the present invention will be described in detail and fully with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
As shown in fig. 1, the present embodiment provides an upper limb rehabilitation training device, which includes a holding rod assembly 100 for holding by a trainee, an elastic connection portion 200 and a fixed base 300; the grip lever assembly 100 is connected to the fixing base 300 by an elastic connection portion 200, and the elastic connection portion 200 is configured to enable the grip lever assembly 100 to be deflected in any direction with respect to the fixing base 300 and to be restored to its original position.
Specifically, the fixed base 300 may be configured as a bearing seat of a metal disc or cement pier structure, and the fixed base 300 is fixed on the indoor ground; the elastic connection part 200 is an elastic connection structure including a spring, the top end of the elastic connection part 200 is connected with the bottom end of the holding rod assembly 100, and the bottom end of the elastic connection part 200 is connected with the fixed base 300; the holding rod assembly 100 is arranged in a rod-shaped structure made of metal or plastic materials, preferably, the holding rod assembly 100 can stretch along the length direction of the holding rod assembly 100, so that the holding height of the training personnel can be adjusted, and the using requirements of the training personnel who cannot be tall can be met. Under initial condition, elastic connection portion 200 and holding rod subassembly 100 all are vertical state, and training personnel can push and pull to arbitrary direction in the horizontal plane after holding rod subassembly 100 for holding rod subassembly 100 and deflecting to the direction of force-receiving around unable adjustment base 300, give holding rod subassembly 100 reaction force constantly at the in-process elastic connection portion 200 of push-and-pull, and elastic connection portion 200 makes holding rod subassembly 100 possess the removal trend that resumes to vertical state all the time.
The upper limbs training rehabilitation device that this embodiment provided, because the pole subassembly 100 that grips passes through elastic connection portion 200 and is connected with unable adjustment base 300, and elastic connection portion 200 can make the pole subassembly 100 that grips deflect and resume the normal position to arbitrary direction for unable adjustment base 300, patient's upper limbs can push and pull to arbitrary direction after holding pole subassembly 100, the pole that grips drives patient's upper limbs reciprocating motion in the in-process that resets after deflecting for unable adjustment base 300, the range of motion of patient's upper limbs is more extensive, more do benefit to the training of resuming of each joint department of upper limbs.
Further, as shown in fig. 2, the elastic connection portion 200 includes an elastic body 210, a first connection body 220, and a second connection body 230; one end of the elastic body 210 is detachably connected to the holding rod assembly 100 through the first connection body 220, and the other end of the elastic body 210 is detachably connected to the fixing base 300 through the second connection body 230.
Specifically, the elastic body 210 may be provided as various types of springs, elastic rubber columns, etc., the first and second connection bodies 220 and 230 are preferably provided in the same structure, and the first and second connection bodies 220 and 230 may be provided as connection sleeves or connection flanges, etc.; the first connecting body 220 is connected to the top end of the elastic body 210, and the first connecting body 220 can be connected to the bottom end of the holding rod assembly 100 by a thread or a bolt; the second connection body 230 is connected to the bottom end of the elastic body 210, and the second connection body 230 may be connected to the fixing base 300 by a screw or a bolt.
Further, the elastic body 210 includes a coil spring; one end of the coil spring is fixedly connected to the first connection body 220, and the other end is fixedly connected to the second connection body 230.
Specifically, the elastic body 210 is preferably configured as a constant diameter coil spring, the top end of the coil spring is fixedly connected with the first connecting body 220, and the bottom end of the coil spring is fixedly connected with the second connecting body 230; the different parameters of length, spring wire diameter and the outer diameter of the spring of coil spring for coil spring can be different to the deflection resistance that holding rod subassembly 100 provided, and the corresponding training degree of difficulty also is different, and the specification of foretell parameter also can be according to the operation requirement reasonable selection.
Further, the grip lever assembly 100 includes a grip lever body 110 and an adjustment lever 120; the first connection body 220 is a first connection sleeve, and the first connection sleeve is in threaded connection with one end of the adjustment rod 120; the holding rod body 110 is slidably connected to an end of the adjusting rod 120 away from the first connecting sleeve, so as to adjust the holding height of the holding rod body 110.
Specifically, the gripping rod body 110 and the adjusting rod 120 are preferably both configured as cylindrical metal rods, the diameter of the gripping rod body 110 is larger than that of the adjusting rod 120, so that the gripping rod body 110 can be sleeved outside the adjusting rod 120, that is, the gripping rod body 110 can move in a pulling manner relative to the adjusting rod 120, and a locking member is disposed between the gripping rod body 110 and the adjusting rod 120 and used for fixing the position of the gripping rod body 110 relative to the body of the adjusting rod 120; the first connecting sleeve is set to be a metal cylinder, the first connecting sleeve is welded at the top of the spiral spring, the first connecting sleeve is provided with internal threads, the bottom end of the adjusting rod 120 is provided with external threads, and the first connecting sleeve can be sleeved at the bottom end of the adjusting rod 120 and is in threaded connection with the adjusting rod 120.
In addition, an anti-slip grip part 111 is sleeved at the top end of the grip rod body 110, the anti-slip grip part 111 is preferably an anti-slip rubber sleeve, and a plurality of anti-slip protrusions are uniformly distributed on the outer surface of the anti-slip rubber sleeve; the anti-slip rubber sleeve is convenient for the trainee to hold, can reduce the slip risk when the trainee holds the holding rod body 110, and is beneficial to improving the training safety.
Further, the holding rod body 110 is sleeved outside one end of the adjusting rod 120 far away from the first connecting sleeve; a plurality of adjusting holes are formed at intervals along the length direction of the adjusting rod 120, a fixing hole is formed on the holding rod body 110, and one end of the connecting member 130 passes through the fixing hole and the adjusting hole to fix the holding height of the holding rod body 110.
Specifically, a plurality of adjusting holes are uniformly arranged on the adjusting rod 120 at intervals along the length direction of the adjusting rod 120, and the adjusting holes are circular through holes penetrating through the body of the adjusting rod 120; the fixing holes are circular through holes provided on the grip lever body 110 and are one in number. The connecting member 130 is configured as a connecting pin or a connecting bolt, preferably, the connecting member 130 is configured as a connecting pin, the connecting pin comprises a pin column and a connecting cap, one end of the pin column is fixedly connected with the connecting cap, and the pin column passes through the fixing hole and the adjusting hole, so that the height of the holding rod body 110 relative to the adjusting rod 120 is fixed; the pin columns are matched with the adjusting holes at different height positions, so that the height of the anti-skid holding part 111 at the top end of the holding rod body 110 can be flexibly adjusted, namely the holding height of a trainer.
As an alternative embodiment of this embodiment, the fixing hole and the adjusting hole are both provided as threaded holes, and the connecting member 130 is provided as a connecting bolt, which is respectively in threaded engagement with the fixing hole and the adjusting hole.
Further, the fixing base 300 includes a base body 310 and a fixing sleeve 320; one end of the fixing sleeve 320 is fixedly connected to the base body 310, the second connecting body 230 is a second connecting sleeve, and the second connecting sleeve is threadedly connected to one end of the fixing sleeve 320 far away from the base body 310.
Specifically, the base body 310 is preferably configured as a metal disc, the fixing sleeve 320 is configured as a metal cylinder, and the bottom end of the fixing sleeve 320 is welded at the center of the metal disc; the second connecting sleeve is welded at the bottom end of the spiral spring and is provided with an internal thread, the fixed sleeve 320 is provided with an external thread, and the second connecting sleeve is sleeved outside the fixed sleeve 320 and is in threaded connection with the fixed sleeve 320.
In addition, the fixing base 300 further includes a plurality of anchor screws 330, a screw hole engaged with the anchor screw 330 is disposed on the base body 310, and the base body 310 is fixed on the indoor floor by the anchor screws 330.
Further, the training apparatus further comprises a support table 400 for supporting the elbow of the trainee; the supporting platform 400 is disposed at one side of the holding rod assembly 100 and is fixedly connected to the holding rod assembly 100.
In particular, the support platform 400 comprises a support plate, a connecting cross beam 410 and connecting corner beams 420, wherein the support plate is preferably provided as a lightweight metal plate, and the lightweight metal plate is covered with a foam board, and the foam board has a good buffering effect on the elbow of the trainee.
The connecting beam 410 is horizontally arranged, the plane of the connecting beam 410 is coplanar with the plane of the support plate, one end of the connecting beam 410 is welded on the support plate, and the other end of the connecting beam 410 is welded on the holding rod body 110; the connecting angle beam 420 is obliquely arranged, one end of the connecting angle beam 420 is welded on the bottom surface of the supporting plate, the other end of the connecting angle beam 420 is welded on the holding rod body 110, and the holding rod body 110, the connecting cross beam 410 and the connecting angle beam 420 form a triangular support for the supporting plate.
In addition, an elastic bandage is fixedly connected to the supporting plate, the arms of the training personnel are tied to the supporting plate through the elastic bandage, and the arm fixing device has a good fixing effect on the arms of the patient.
In the upper limb rehabilitation training device provided by this embodiment, the elastic connection portion 200 includes a coil spring, a first connection sleeve and a second connection sleeve, which are connected together; a plurality of elastic connection parts 200 are manufactured in advance, and the specifications of the spiral springs in the elastic connection parts 200 are different and correspond to different training resistances or difficulties; the first connecting sleeve is in threaded connection with the adjusting rod 120, the second connecting sleeve is in threaded connection with the fixing sleeve 320, the elastic connecting portion 200 is convenient to replace, and training requirements of training personnel with different strength types are met. The foundation screw 330 fixes the base body 310 on the indoor ground, so that the base body 310 is prevented from being displaced in the training process; in addition, the holding height of the holding rod body 110 can be conveniently adjusted. Above combining, the upper limbs rehabilitation training device commonality that this embodiment provided is good, can satisfy the training requirement of different heights and strength type personnel, and the function is various, and the safety in utilization is good.
Example 2
On the basis of the above embodiments, further, the VR-based training system provided in this embodiment includes a VR display assembly 500 and an upper limb rehabilitation training device; the VR display component 500 is used to display a standard action screen that guides the movement of the upper limbs of the trainee.
Specifically, the VR display assembly 500 may be configured as a VR display screen or VR glasses, and the VR limitation assembly may play a standard motion picture, so that a trainer may simulate a standard motion for training, where the standard motion may be a push-pull motion facing any direction in a horizontal plane; through the combination of the upper limb rehabilitation training device and the VR display assembly 500, the training process of the patient is more targeted and interesting.
Further, the training system further comprises an angle measuring part 600, a control part and a prompt part; the angle measuring part 600 is installed in the grip lever assembly 100, and the angle measuring part 600 is used for measuring the deflection angle of the grip lever assembly 100; the VR display module 500, the prompting part and the angle measuring part 600 are all electrically connected with the control part, an angle threshold corresponding to the standard action is preset in the control part, and the control part controls the prompting part to send out prompting information when the deflection angle reaches the angle threshold.
Specifically, the angle measuring part 600 is provided as an angle sensor, the angle sensor is installed in the holding rod body 110, and the angle sensor is used for measuring the angle of the holding rod body 110 deviating from the vertical plane; the prompting part can be set as a sound prompting device or a flashing prompting device. The control part is set as a logic control circuit or a single chip microcomputer, and the control part is independent of the VR display assembly 500 or shares a controller with the VR display assembly 500. When the control part is independent of the VR display assembly 500, the control part is arranged in the holding rod body 110; when the control unit and the VR display module 500 share one controller, the control unit is built in the VR display module 500, that is, the control unit is a controller of the VR limiter module. The angle sensor and the prompting part are in signal connection with the control part through a signal sending module, and the signal sending module can be selected to be a Bluetooth module or a WiFi module.
The control part comprises a storage module and a control module, wherein a plurality of standard action pictures are stored in the storage module, and a plurality of angle thresholds corresponding to a plurality of standard actions are preset in the control part correspondingly; in the training process, a trainer imitates the standard action displayed in the VR display module 500, the angle sensor measures the actual deflection angle signal of the holding rod assembly 100 and transmits the actual deflection angle signal to the control part, and the control part controls the prompt part to send prompt information when judging that the actual deflection angle signal is in the corresponding angle threshold value, so that the action of the trainer is executed in place. The prompting part is preferably set as a loudspeaker component, a prompting ring tone or music is stored in a storage module in the control part, and the control module controls the loudspeaker component to emit prompting sound.
Further, as shown in fig. 3, the VR display assembly 500 includes VR glasses; the control part is arranged in the VR glasses.
Specifically, the VR glasses are provided with a wearing belt so as to be convenient for training a person to wear the eyes; the control part is set as the controller of VR glasses, and the angle measuring part 600 and the prompting part are both in wireless connection with the controller of VR glasses.
The training system based on VR that this embodiment provided combines upper limbs rehabilitation training device and angle measurement portion 600, control part, suggestion portion and VR glasses into a system, has good guide effect to the training personnel, has increased the specialty and the interest of training.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. An upper limb rehabilitation training device, comprising: the training device comprises a holding rod assembly (100) for a trainee to hold, an elastic connecting part (200) and a fixed base (300);
the holding rod assembly (100) is connected with the fixed base (300) through the elastic connecting part (200), and the elastic connecting part (200) is configured to enable the holding rod assembly (100) to deflect in any direction relative to the fixed base (300) and return to the original position.
2. The upper limb rehabilitation training device of claim 1, wherein the elastic connection part (200) comprises an elastic body (210), a first connection body (220) and a second connection body (230);
one end of the elastic body (210) is detachably connected with the holding rod assembly (100) through the first connecting body (220), and the other end of the elastic body (210) is detachably connected with the fixed base (300) through the second connecting body (230).
3. The upper limb rehabilitation training device of claim 2, wherein the elastic body (210) comprises a coil spring;
one end of the spiral spring is fixedly connected with the first connecting body (220), and the other end of the spiral spring is fixedly connected with the second connecting body (230).
4. The upper limb rehabilitation training device of claim 2, wherein the grip lever assembly (100) comprises a grip lever body (110) and an adjustment lever (120);
the first connecting body (220) is a first connecting sleeve, and the first connecting sleeve is in threaded connection with one end of the adjusting rod (120);
the holding rod body (110) is in sliding connection with one end, far away from the first connecting sleeve, of the adjusting rod (120), so that the holding height of the holding rod body (110) can be adjusted.
5. The upper limb rehabilitation training device of claim 4, wherein the holding rod body (110) is sleeved outside one end of the adjusting rod (120) far away from the first connecting sleeve;
a plurality of adjusting holes are formed in the length direction of the adjusting rod (120) at intervals, a fixing hole is formed in the holding rod body (110), and one end of the connecting piece (130) penetrates through the fixing hole and the adjusting hole to fix the holding height of the holding rod body (110).
6. The upper limb rehabilitation training device of claim 2, wherein the stationary base (300) comprises a base body (310) and a stationary sleeve (320);
one end of the fixed sleeve (320) is fixedly connected with the base body (310), the second connecting body (230) is a second connecting sleeve, and the second connecting sleeve is in threaded connection with one end, far away from the base body (310), of the fixed sleeve (320).
7. The upper limb rehabilitation training device according to any one of claims 1-6, characterized in that the training device further comprises a support table (400) for supporting the elbow of the training person;
the supporting table (400) is arranged on one side of the holding rod assembly (100) and is fixedly connected with the holding rod assembly (100).
8. A VR based training system comprising a VR display assembly (500) and an upper limb rehabilitation training device according to any of claims 1-7;
the VR display component (500) is used for displaying a standard action picture for guiding the upper limbs of the training person to move.
9. The VR based training system of claim 8, further comprising an angle measurement portion (600), a control portion, and a prompt portion;
the angle measuring part (600) is arranged in the holding rod assembly (100), and the angle measuring part (600) is used for measuring the deflection angle of the holding rod assembly (100);
the VR display assembly (500), the prompting part and the angle measuring part (600) are all electrically connected with the control part, an angle threshold corresponding to the standard action is preset in the control part, and the control part controls the prompting part to send out prompting information when the deflection angle reaches the angle threshold.
10. The VR-based training system of claim 9, wherein the VR display assembly (500) includes VR glasses;
the control unit is built in the VR glasses.
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| CN202021222148.7U CN212662597U (en) | 2020-06-28 | 2020-06-28 | Upper limb rehabilitation training device and training system based on VR |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101137A (en) * | 2021-04-06 | 2021-07-13 | 合肥工业大学 | Upper limb rehabilitation robot based on motion mapping and virtual reality |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101137A (en) * | 2021-04-06 | 2021-07-13 | 合肥工业大学 | Upper limb rehabilitation robot based on motion mapping and virtual reality |
| CN113101137B (en) * | 2021-04-06 | 2023-06-02 | 合肥工业大学 | Upper limb rehabilitation robot based on motion mapping and virtual reality |
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